# Copyright 2018 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from launch import LaunchDescription
import launch.substitutions
import launch_ros.actions


def generate_launch_description():
    params_file = launch.substitutions.LaunchConfiguration(
        'params', default=[launch.substitutions.ThisLaunchFileDir(),
                           '/params.yaml'])

    return LaunchDescription([
        launch_ros.actions.Node(
            package='hello_world',
            node_executable='talker_with_service_param',
            node_name='talker', output='screen',
            parameters=[params_file]),
        launch_ros.actions.Node(
            package='hello_world',
            node_executable='listener', output='screen'),
    ])
